Merge pull request #3123 from traversaro/fixemptyvectordebug

Fix sending empty yarp::sig::Vector when building in Debug
robotology · Aug 5, 2024 · 2fd8e69 · 2fd8e69
2 parents dfe6d31 + 39b4fef
commit 2fd8e69
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Showing 3 changed files with 45 additions and 5 deletions.
diff --git a/doc/release/master.md b/doc/release/master.md
@@ -32,6 +32,7 @@ Fixes
 * `yarpbatterygui` now compatible with battery_nwc_yarp.
 * Fixed compilation of portmonitor carrier when a custom non-system swig is used
 * Fixed compatibility with ffmpeg 7 (https://github.com/robotology/yarp/pull/3109).
+* Fix sending empty yarp::sig::Vector when building in Debug (https://github.com/robotology/yarp/pull/3123).
 
 New Features
 ------------

diff --git a/src/libYARP_sig/src/yarp/sig/Vector.cpp b/src/libYARP_sig/src/yarp/sig/Vector.cpp
@@ -84,11 +84,15 @@ bool VectorBase::write(yarp::os::ConnectionWriter& connection) const {
     header.listLen = (int)getListSize();
 
     connection.appendBlock((char*)&header, sizeof(header));
-    const char *ptr = getMemoryBlock();
-    int elemSize=getElementSize();
-    yCAssert(VECTOR, ptr != nullptr);
 
-    connection.appendExternalBlock(ptr, elemSize*header.listLen);
+    if (header.listLen > 0)
+    {
+        const char *ptr = getMemoryBlock();
+        int elemSize=getElementSize();
+        yCAssert(VECTOR, ptr != nullptr);
+
+        connection.appendExternalBlock(ptr, elemSize*header.listLen);
+    }
 
     // if someone is foolish enough to connect in text mode,
     // let them see something readable.

diff --git a/src/libYARP_sig/tests/VectorOfTest.cpp b/src/libYARP_sig/tests/VectorOfTest.cpp
@@ -31,7 +31,6 @@ TEST_CASE("sig::VectorOfTest", "[yarp::sig]")
     SECTION("Check send and receive integers")
     {
         INFO("check VectorO<int> send receive");
-
         {
             Port portIn;
             Port portOut;
@@ -79,6 +78,42 @@ TEST_CASE("sig::VectorOfTest", "[yarp::sig]")
             portIn.close();
         }
 
+        INFO("check VectorOf<int> send empty vector");
+        {
+            Port portIn;
+            Port portOut;
+
+            portOut.open("/harness_sig/vtest/empty_vector/o");
+            portIn.open("/harness_sig/vtest/empty_vector/i");
+
+            Network::connect("/harness_sig/vtest/empty_vector/o", "/harness_sig/vtest/empty_vector/i");
+
+            portOut.enableBackgroundWrite(true);
+
+
+            VectorOf<int> vector;
+            vector.resize(0);
+
+            bool success = true;
+            portOut.write(vector);
+
+            VectorOf<int> tmp;
+            portIn.read(tmp);
+
+            //compare vector and tmp
+            if (tmp.size() != vector.size())
+            {
+                success = false;
+            }
+
+            CHECK(success); // empty VectorOf<int> was sent and received correctly
+
+            portOut.interrupt();
+            portOut.close();
+            portIn.interrupt();
+            portIn.close();
+        }
+
         INFO("check VectorOf<int> bottle compatibility");
         {
             //write the same vector again and receive it as a bottle